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Pepijn
965d42825f
**#1 Plan-update phase reports correct skip count.** ``_run_plan_update_phase`` only ran ``run_plan_updates`` for episodes with at least one interjection but hardcoded ``episodes_skipped=0``. The summary undercounted skipped episodes. Now returns ``len(records) - processed`` so processed + skipped == total. **#2 ``run_hf_job.py`` installs ``openai``.** The ``CMD`` block does ``pip install --no-deps lerobot[branch]`` then explicitly lists transitive deps. ``openai`` was missing — and since ``VlmConfig.backend`` defaults to ``"openai"``, the job would have ``ImportError``'d when ``vlm_client._make_openai_client`` ran. **#3 Dedupe subtask-span reconstruction.** Module 1's ``_reconstruct_subtasks_from_rows`` (no ``and spans`` guard) and Module 2's ``_read_subtask_spans`` (with the guard) had near- identical logic. Promoted to ``reconstruct_subtask_spans`` in ``reader.py`` using the safer guarded form. Both modules now import the single helper. **#5 Atomic staging.py JSONL writes.** Mirroring the parquet-writer fix from an earlier review round: ``EpisodeStaging.write`` now writes to a sibling ``.tmp`` and ``Path.replace`` atomically. A crash mid-write can no longer leave a half-written JSONL that ``read()`` would then fail to parse. **#6 Atomic ``info.json`` write.** Same pattern in ``executor._ensure_annotation_metadata_in_info`` — ``info.json`` is load-bearing for dataset metadata, so partial writes brick the dataset. **#7 Writer's role-key guard.** ``_normalize_persistent_row`` and ``_normalize_event_row`` accessed ``row["role"]`` directly while every other field used ``.get()``. Pre-validate ``"role" in row`` and raise a friendly ``ValueError`` naming the row, so a future module that accidentally drops ``role`` fails with a triagable message instead of a bare KeyError deep in the writer. **#8 Last subtask span's ``end`` extends to episode end.** ``reconstruct_subtask_spans`` (the new shared helper) takes an optional ``episode_end_t``. When provided, the final span's ``end`` is closed to that timestamp instead of equalling its own ``start`` (zero duration). Both Module 1's plan-update pass and Module 2's interjection anchoring pass ``record.frame_timestamps[-1]``, so downstream "current subtask at refresh_t" lookups no longer miss refreshes that land inside the final span. Sweep: 66 passed, 0 failed. Pre-commit clean. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>